Related papers: Optimal control based dynamics exploration of a ri…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…
This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…
This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…
We investigate open- and closed-loop active control for aerodynamic drag reduction of a car model. Turbulent flow around a blunt-edged Ahmed body is examined at $Re_{H}\approx3\times10^{5}$ based on body height. The actuation is performed…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments…
It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order…